7 citations · 13 across the 9 of their papers we have counts for
9 papers
Efficient and Interaction-Aware Trajectory Planning for Autonomous Vehicles with Particle Swarm Optimization
Lin Song, David Isele, Naira Hovakimyan +1
This paper introduces a novel numerical approach to achieving smooth lane-change trajectories in autonomous driving scenarios. Our trajectory generation approach leverages particle…
Verification of Adaptive Control using Verse Library: A Case Study of Quadrotors
Lin Song, Yangge Li, Sheng Cheng +3
adaptive control (AC) is a control design technique that can handle a broad class of system uncertainties and provide transient performance guarantees. In this work-in-p…
DiffTune: Hyperparameter-Free Auto-Tuning using Auto-Differentiation
Sheng Cheng, Lin Song, Minkyung Kim +2
Controller tuning is a vital step to ensure the controller delivers its designed performance. DiffTune has been proposed as an automatic tuning method that unrolls the dynamical sy…
Safety Embedded Stochastic Optimal Control of Networked Multi-Agent Systems via Barrier States
Lin Song, Pan Zhao, Neng Wan +1
This paper presents a novel approach for achieving safe stochastic optimal control in networked multi-agent systems (MASs). The proposed method incorporates barrier states (BaSs) i…
DiffTune: Auto-Tuning through Auto-Differentiation
Sheng Cheng, Minkyung Kim, Lin Song +4
The performance of robots in high-level tasks depends on the quality of their lower-level controller, which requires fine-tuning. However, the intrinsically nonlinear dynamics and…
Simplified Analysis on Filtering Sensitivity Trade-offs in Continuous- and Discrete-Time Systems
Neng Wan, Dapeng Li, Lin Song +1
A simplified analysis is performed on the Bode-type filtering sensitivity trade-off integrals, which capture the sensitivity characteristics of the estimate and estimation error wi…
Generalization of Safe Optimal Control Actions on Networked Multi-Agent Systems
Lin Song, Neng Wan, Aditya Gahlawat +3
We propose a unified framework to fast generate a safe optimal control action for a new task from existing controllers on Multi-Agent Systems (MASs). The control action composition…
Compositionality of Linearly Solvable Optimal Control in Networked Multi-Agent Systems
Lin Song, Neng Wan, Aditya Gahlawat +2
In this paper, we discuss the methodology of generalizing the optimal control law from learned component tasks to unlearned composite tasks on Multi-Agent Systems (MASs), by using…
Contraction -Adaptive Control using Gaussian Processes
Aditya Gahlawat, Arun Lakshmanan, Lin Song +4
We present -, a control framework that enables safe simultaneous learning and control for systems subject to uncertainties. The two main constituents…